Control Systems

Week # 9-10

Md. Hazrat Ali

Department of Mechanical and Aerospace Engineering, SEDS
Nazarbayev University
Today’s Quote:
Learning outcomes

 PID controller design

 Introduction
➢More than half of the industrial controllers in use today, utilize
PID or modified PID control schemes.
➢When the mathematical model of the plant is unknown and
therefore, analytical design methods cannot be used, PID
controller proved to be most useful.
Design PID control

➢Known mathematical model  various design techniques

➢Plant is complicated, mathematical model can’t be obtained 
Apply PID controller
 PID Control
➢ A closed-loop (feedback) control system, generally with
Single Input-Single Output (SISO).
➢ A portion of the signal being fed back is:
 Proportional to the signal (P)
 Proportional to integral of the signal (I)
 Proportional to the derivative of the signal (D)
 Application of PID Controller
 PID control works well on SISO systems of 2nd Order, where a
desired Set Point can be supplied to the system control input.
 PID control handles step changes well to the Set Point
especially, when the system requires:
 Fast Rise Time
 Little or No Overshoot
 Fast Settling Time
 Zero Steady State Error
 PID controllers are often fine tuned on-site, using established
guidelines
Output equation of the PID controller in time
domain
 PID Controller (Conti… )
Proportional Controller
➢ A proportional controller attempts to perform better than the On-off type by applying
power in proportion to the difference in temperature between the measured and the set-
point.

➢ The P-controller usually has steady-state errors (the difference in set point and actual
outcome) unless the control gain is large.

➢ As the control gain becomes larger, issues arise with the stability of the feedback loop.
 PID Controller (Conti… )

Proportional + Integral Control

➢ The combination of proportional and integral terms is important to
increase the speed of the response.
➢ Eliminate the steady state error.
 PID Controller (Conti… )
Proportional+Integral+Derivative Control

A PID controller calculates an error value as the difference between a

measured process variable and a desired set point. The controller attempts
to minimize the error by adjusting the process through use of a
manipulated variable.
 PID Controller (Conti… )

The Characteristics of P, I, and D controllers

A proportional controller (Kp) will have the effect of reducing the

rise time and will reduce, but never eliminate the steady-state error.

An integral control (Ki) will have the effect of eliminating the

steady-state error, but it may make the transient response worse.

A derivative control (Kd) will have the effect of increasing the

stability of the system, reducing the overshoot, and improving the
transient response.
 PID Controller (Conti… )

Proportional Control
By only employing proportional control, a steady state error
occurs.

Proportional and Integral Control

The response becomes more oscillatory and needs longer
time to settle, the error disappears.

Proportional, Integral and Derivative Control

All design specifications can be reached.
 PID Controller (Conti… )

The Characteristics of P, I, and D controllers

CLOSED-LOOP
RISE TIME OVERSHOOT SETTLING TIME S-S ERROR
RESPONSE

Kp Decrease Increase Small Change Decrease

Ki Decrease Increase Increase Eliminate

Kd Small Change Decrease Decrease Small Change

 PID Controller (Conti… )
Tips for Designing a PID Controller

1. Obtain an open-loop response and determine what needs to be improved

2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall
response.

Lastly, please keep in mind that you do not need to implement all three controllers
(proportional, derivative, and integral) into a single system, if not necessary. For
example, if a PI controller gives a good enough response (like the above
example), then you don't need to implement derivative controller to the system.
Keep the controller as simple as possible.
 PID Controller (Conti… )

Open Loop Control - Example

1
G( s )
2
s + 10s + 20

num=1;
den=[1 10 20];
step(num,den)
 PID Controller (Conti… )

Proportional Control - Example

The proportional controller (Kp) reduces the rise time, increases the
overshoot, and reduces the steady-state error.
Kp
T( s )
MATLAB Example 2
s + 10 s + ( 20 + Kp )
Step Response
From: U(1)
1.4

Kp=300; 1.2 Step Response

From: U(1)
1

num=[Kp]; 1
0.9
Amplitude

0.8 0.8
To: Y(1)

den=[1 10 20+Kp]; 0.7

0.6

0.6
t=0:0.02:2;
Amplitude

To: Y(1)
0.4
0.5

step(num,den,t) 0.2
K=300 0.4 K=100
0.3
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.2
Time (sec.)
0.1

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (sec.)
 PID Controller (Conti… )

Proportional - Derivative - Example

The derivative controller (Kd) reduces both the overshoot and the
settling time.
Kd  s + Kp
T( s )
MATLAB Example 2
s + ( 10 + Kd )  s + ( 20 + Kp )
Step Response
From: U(1)
1.4

1.2

Kp=300; 1 Step Response

From: U(1)
1
Amplitude

Kd=10; 0.8
To: Y(1)

0.9

0.6 0.8

num=[Kd Kp]; 0.4

0.7

Kd=10 0.6

Amplitude
den=[1 10+Kd 20+Kp];
To: Y(1)
0.2 0.5

0.4
0

t=0:0.02:2; 0 0.2 0.4 0.6 0.8 1

Time (sec.)
1.2 1.4 1.6 1.8
0.3
2

0.2
Kd=20
step(num,den,t) 0.1

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (sec.)
 PID Controller (Conti… )
Proportional - Integral - Example

The integral controller (Ki) decreases the rise time, increases both
the overshoot and the settling time, and eliminates the steady-state
error Kp  s + Ki
T( s )
3 2
MATLAB Example s + 10 s + ( 20 + Kp )  s + Ki
Step Response Step Response
From: U(1) From: U(1)
1.4 1.4

1.2
Kp=30; 1.2

1 1

Ki=70;

Amplitude
Amplitude

0.8 0.8

To: Y(1)
To: Y(1)

0.6 0.6

num=[Kp Ki];
0.4
Ki=70 0.4

den=[1 10 20+Kp Ki]; 0.2

0.2

0
0 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

t=0:0.02:2; 0 0.2 0.4 0.6 0.8 1

Time (sec.)
1.2 1.4 1.6 1.8 2

Ki=100
Time (sec.)

step(num,den,t)
 PID Controller (Conti… )

Figure 4.9 Responses of P, PI, and PID control to (a) step disturbance input (b) step reference input
 PID Controller (Conti… )

Figure 4.10 Model of a satellite attitude control: (a) basic system; (b) PD control; (c) PID control
The are two methods to calculate a PID controller
parameters/gains:
1. Quarter decay ratio method

2. Ultimate sensitivity gain method

 PID Controller- Ziegler Method #1

Figure 4.11 Process reaction curve

 PID Controller

Figure 4.11 Process reaction curves (R.C.Dorf et.al and Others)

PID Controller
PID Controller- Ziegler Method #1

Figure 4.12 Quarter decay ratio

 PID Controller (Conti… )

TABLE 4.2
 PID Controller- Ziegler Method #2

Figure 4.13 Determination of ultimate gain and period

 PID Controller (Conti… )

Figure 4.14 Neutrally stable system

PID Controller (Conti… )
 PID Controller (Conti… )

TABLE 4.3
 PID Controller (Conti… )

Figure 4.15 A measured process reaction curve

 PID Controller

Example: # 1

Figure 4.15 A measured process reaction curve

 PID Controller Example: # 2

Figure 4.17 Ultimate period of heat exchanger

Exercise -PID Controller
PID Controller
Further Reading
 Franklin, et. al., Chapter 4
 Section 4.3

 Richard C. Dorf et.al, Chapter 6,

Chapter 6.2